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*
* Software License Agreement (BSD License)
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*  Copyright (c) 2008, Robert Bosch LLC.
*  Copyright (c) 2015-2016, Jiri Horner.
*  Copyright (c) 2021, Carlos Alvarez, Juan Galvis.
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#ifndef NAV_EXPLORE_H_
#define NAV_EXPLORE_H_

#include <explore/costmap_client.h>
#include <explore/frontier_search.h>
#include <geometry_msgs/msg/pose_stamped.h>
#include <tf2_ros/transform_listener.h>
#include <chrono>
#include <cmath>
#include <geometry_msgs/msg/point.hpp>
#include <memory>
#include <mutex>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/bool.hpp>
#include <std_msgs/msg/color_rgba.hpp>
#include <string>
#include <vector>
#include <visualization_msgs/msg/marker_array.hpp>
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include <geometry_msgs/msg/twist.hpp>

using namespace std::placeholders;
#ifdef ELOQUENT
#define ACTION_NAME "NavigateToPose"
#elif DASHING
#define ACTION_NAME "NavigateToPose"
#else
#define ACTION_NAME "navigate_to_pose"
#endif
namespace explore
{
/**
* @class Explore
* @brief A class adhering to the robot_actions::Action interface that moves the
* robot base to explore its environment.
*/
class Explore : public rclcpp::Node
{
public:
    Explore();

    ~Explore();

    void start();

    void stop(bool finished_exploring = false);

    void resume();

    using NavigationGoalHandle =
    rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose>;

private:
    /**
     * @brief  Make a global plan
     */
    void makePlan();

    // /**
    //  * @brief  Publish a frontiers as markers
    //  */
    void visualizeFrontiers(
            const std::vector<frontier_exploration::Frontier> &frontiers);

    bool goalOnBlacklist(const geometry_msgs::msg::Point &goal);

    NavigationGoalHandle::SharedPtr navigation_goal_handle_;

    // void
    // goal_response_callback(std::shared_future<NavigationGoalHandle::SharedPtr>
    // future);
    void reachedGoal(const NavigationGoalHandle::WrappedResult &result,
                     const geometry_msgs::msg::Point &frontier_goal);

    rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr
            marker_array_publisher_;
    rclcpp::Logger logger_ = rclcpp::get_logger("ExploreNode");
    tf2_ros::Buffer tf_buffer_;
    tf2_ros::TransformListener tf_listener_;

    Costmap2DClient costmap_client_;
    rclcpp_action::Client<nav2_msgs::action::NavigateToPose>::SharedPtr
            move_base_client_;
    frontier_exploration::FrontierSearch search_;
    rclcpp::TimerBase::SharedPtr exploring_timer_;
    // rclcpp::TimerBase::SharedPtr oneshot_;

    rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr resume_subscription_;

    void resumeCallback(const std_msgs::msg::Bool::SharedPtr msg);

    std::vector<geometry_msgs::msg::Point> frontier_blacklist_;
    geometry_msgs::msg::Point prev_goal_;
    double prev_distance_;
    rclcpp::Time last_progress_;
    size_t last_markers_count_;

    geometry_msgs::msg::Pose initial_pose_;

    void returnToInitialPose(void);

    // parameters
    double planner_frequency_;
    double potential_scale_, orientation_scale_, gain_scale_;
    double progress_timeout_;
    bool visualize_;
    bool return_to_init_;
    std::string robot_base_frame_;
    bool resuming_ = false;
    bool is_return_to_init = false;
    bool isMakePlan = true;
    bool isStartExplore = true;
    geometry_msgs::msg::Point target_position;
    geometry_msgs::msg::Pose target_prev;
    std::vector<frontier_exploration::Frontier> noReachTargetPt;
    frontier_exploration::Frontier frontierEnd;
    int same_point_cnt = 0;
};
}  // namespace explore

#endif
